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AU1715495A - Manipulator controller - Google Patents

Manipulator controller

Info

Publication number
AU1715495A
AU1715495A AU17154/95A AU1715495A AU1715495A AU 1715495 A AU1715495 A AU 1715495A AU 17154/95 A AU17154/95 A AU 17154/95A AU 1715495 A AU1715495 A AU 1715495A AU 1715495 A AU1715495 A AU 1715495A
Authority
AU
Australia
Prior art keywords
manipulator controller
manipulator
controller
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
AU17154/95A
Inventor
Christopher Paul Bamforth
John David Taylor
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
UK ROBOTICS Ltd
Original Assignee
INTELLIGENT SYSTEMS SOLUTIONS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by INTELLIGENT SYSTEMS SOLUTIONS filed Critical INTELLIGENT SYSTEMS SOLUTIONS
Publication of AU1715495A publication Critical patent/AU1715495A/en
Abandoned legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40327—Calculation, inverse kinematics solution using damped least squares method
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43201—Limit speed to allowable speed for all axis

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
AU17154/95A 1994-02-25 1995-02-24 Manipulator controller Abandoned AU1715495A (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB9403644 1994-02-25
GB9403644A GB9403644D0 (en) 1994-02-25 1994-02-25 Manipulator controller
PCT/GB1995/000397 WO1995023054A1 (en) 1994-02-25 1995-02-24 Manipulator controller

Publications (1)

Publication Number Publication Date
AU1715495A true AU1715495A (en) 1995-09-11

Family

ID=10750915

Family Applications (1)

Application Number Title Priority Date Filing Date
AU17154/95A Abandoned AU1715495A (en) 1994-02-25 1995-02-24 Manipulator controller

Country Status (3)

Country Link
AU (1) AU1715495A (en)
GB (2) GB9403644D0 (en)
WO (1) WO1995023054A1 (en)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6131056A (en) * 1998-03-16 2000-10-10 Honeywell International Inc. Continuous attitude control that avoids CMG array singularities
US6047927A (en) * 1998-03-16 2000-04-11 Honeywell Inc. Escaping singularities in a satellite attitude control
US6128556A (en) * 1998-03-16 2000-10-03 Honeywell International Inc. CMG control based on angular momentum to control satellite attitude
DE19853765C1 (en) 1998-11-21 2000-07-13 Forschungszentrum Juelich Gmbh Method and device for determining regularity
GB2364575B (en) * 2000-07-07 2004-10-27 Robotic Technology Systems Plc Processing an object
DE102007059481A1 (en) * 2007-12-11 2009-06-18 Kuka Roboter Gmbh Method and device for range monitoring of a manipulator
FR2960074B1 (en) * 2010-05-14 2012-06-15 Staubli Sa Ets METHOD FOR CONTROLLING AN AUTOMATED WORKING CELL
NZ603415A (en) 2010-06-03 2014-05-30 Delaval Holding Ab A milking robot, and a milking arrangement
US9193573B1 (en) * 2012-05-11 2015-11-24 The Boeing Company Process for measuring and controlling extension of scissor linkage systems
US9875335B2 (en) 2012-10-08 2018-01-23 Honda Motor Co., Ltd. Metrics for description of human capability in execution of operational tasks
CN103268067B (en) * 2013-05-03 2016-02-10 哈尔滨工业大学 A kind of satellite based on intending hypercomplex number and plan hypercomplex number kinematical equation points to tracking and controlling method
US10216892B2 (en) 2013-10-01 2019-02-26 Honda Motor Co., Ltd. System and method for interactive vehicle design utilizing performance simulation and prediction in execution of tasks
WO2020030284A1 (en) * 2018-08-10 2020-02-13 Abb Schweiz Ag Method for controlling movement of a robot
GB2588629B (en) * 2019-10-29 2024-01-03 Cmr Surgical Ltd Robotic joint control
EP3845346A1 (en) * 2019-12-31 2021-07-07 Fundación Tecnalia Research & Innovation Method, system and computer program product for controlling the teleoperation of a robotic arm
CN113263496B (en) * 2021-04-01 2022-09-23 北京无线电测量研究所 Method for optimizing path of six-degree-of-freedom mechanical arm and computer equipment
CN114131612B (en) * 2021-12-20 2024-01-30 中国科学院长春光学精密机械与物理研究所 Redundant mechanical arm real-time look-ahead track planning method based on NURBS curve interpolation algorithm
CN114700952B (en) * 2022-04-24 2024-06-28 深圳市品拉索产品策划有限公司 Joint limit control method and device, terminal equipment and storage medium
CN115042180B (en) * 2022-06-30 2025-06-17 深圳市优必选科技股份有限公司 Robot and contact control method, device and storage medium thereof
CN117798938B (en) * 2024-03-01 2024-05-28 北京长木谷医疗科技股份有限公司 Non-singular evaluation control method and device for multi-joint robot
CN119407781B (en) * 2024-11-20 2025-09-23 华南理工大学 Inverse kinematics solution method, system and equipment for seven-degree-of-freedom manipulator based on numerical iteration

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4893254A (en) * 1988-04-20 1990-01-09 University Of British Columbia Manipulator arm position sensing

Also Published As

Publication number Publication date
WO1995023054A1 (en) 1995-08-31
GB2301907A (en) 1996-12-18
GB9403644D0 (en) 1994-04-13
GB9617722D0 (en) 1996-10-02

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